Method and system for generating and processing safety messages for vehicle-to-everything communication

ABSTRACT

An infrastructure edge device is configured to generate and broadcast a proxy safety message regarding a moving object. A method for a subject vehicle to process the proxy safety message includes determining whether data provided in the proxy safety message is valid based on sensor data from one or more sensors disposed about the subject vehicle, content of the proxy safety message, or a combination thereof. The method further discards the proxy safety message in response to the proxy safety message including invalid data.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to and the benefit of U.S. ProvisionalApplication No. 62/859,986 filed on Jun. 11, 2019. The disclosure of theabove application is incorporated herein by reference.

FIELD

The present disclosure relates to a method and system for communicatingmessages between a roadside device and a vehicle.

BACKGROUND

The statements in this section merely provide background informationrelated to the present disclosure and may not constitute prior art.

Technological advancements have been made in the area ofvehicle-to-everything communication (V2X) in which vehicles, roadsidedevices, mobile computing devices, cloud-based network, and cellularphones, among other components, form distributed computing systems forsharing and processing data. As an example, a vehicle may transmit abasic safety message (BSM) that includes dynamic characteristics of thevehicle such as the location (e.g., current and previous), speed, and/ortravel direction of the vehicle.

An infrastructure control device can receive BSMs from vehicles and apersonal safety message (PSM) from a mobile computing device of avulnerable road user (VRU) such as a pedestrian, and in someapplications, re-broadcast the messages or other messages/warnings basedon the information in the BSMs and PSMs. The accuracy of the informationprovided in BSMs and PSMs can be difficult to validate since differentvehicle manufacturers use different technologies for determining orestimating its dynamic characteristics. In addition, while advancementshave been made, V2X communication and more particularly,vehicle-to-vehicle communication has not been fully realized and thus, avehicle having a V2X system may not be receiving BSMs and/or PSM forother vehicles and/or VRUs.

SUMMARY

This section provides a general summary of the disclosure and is not acomprehensive disclosure of its full scope or all of its features.

In one form, the present disclosure is directed toward a method forgenerating a message including dynamic characteristics of a movingobject. The method includes acquiring data from a roadside sensor,identifying a moving object within a detection area based on theacquired data from the roadside sensor, calculating one or more dynamiccharacteristics of the moving object based on the acquired data from theroadside sensor, generating a proxy safety message for the identifiedmoving object, and broadcasting the proxy safety message for theidentified moving object. The proxy safety message includes dataindicative of the calculated dynamic characteristics of the identifiedmoving object.

In one form, the present disclosure is directed towards a method forprocessing a proxy safety message from an infrastructure edge device incommunication with a subject vehicle. The method includes receiving aproxy safety message regarding a moving object external of the subjectvehicle. The proxy safety message includes data indicative of dynamiccharacteristics of the moving object. The method further includesdetermining whether the data of the proxy safety message is valid basedon sensor data from one or more sensors disposed about the subjectvehicle, content of the proxy safety message, or a combination thereofand discarding the proxy safety message in response to the proxy safetymessage being invalid.

In one form, the present disclosure is directed towards a system for asubject vehicle. The system includes a processor and a non-transitorycomputer-readable medium comprising instructions that are executable bythe processor. The instructions includes: authenticating a sender of aproxy safety message, where the proxy safety message includes dataindicative of dynamic characteristics of a moving object, determiningwhether the data of the proxy safety message is valid based on sensordata from one or more sensors disposed about the subject vehicle,content of the proxy safety message, or a combination thereof anddiscarding the proxy safety message in response to the proxy safetymessage being from an authorized sender or including invalid data.

Further areas of applicability will become apparent from the descriptionprovided herein. It should be understood that the description andspecific examples are intended for purposes of illustration only and arenot intended to limit the scope of the present disclosure.

DRAWINGS

In order that the disclosure may be well understood, there will now bedescribed various forms thereof, given by way of example, referencebeing made to the accompanying drawings, in which:

FIG. 1 illustrates a roadway having an infrastructure system and avehicle in communication with the infrastructure system in accordancewith the teachings of the present disclosure;

FIG. 2 is a block diagram of an infrastructure edge device of theinfrastructure system in accordance with the teachings of the presentdisclosure;

FIG. 3 is a block diagram of a vehicle having a V2X system in accordancewith the teachings of the present disclosure;

FIG. 4 is a flowchart of a proxy message generation routine inaccordance with the teachings of the present disclosure; and

FIG. 5 is a flowchart of a proxy message evaluation routine inaccordance with the teachings of the present disclosure.

The drawings described herein are for illustration purposes only and arenot intended to limit the scope of the present disclosure in any way.

DETAILED DESCRIPTION

The following description is merely exemplary in nature and is notintended to limit the present disclosure, application, or uses. Itshould be understood that throughout the drawings, correspondingreference numerals indicate like or corresponding parts and features.

With reference to FIG. 1, an infrastructure system 100 broadcasts proxysafety messages regarding a moving object detected within a detectionarea of the infrastructure system 100 to devices in communication withthe infrastructure system 100. The infrastructure system 100 is providedalong a roadway 102 that is an intersection having a roundabout 104 andpedestrian walkways 106. The infrastructure system 100 includes multipleroadside sensors 108 (108-1 to 108-4 in FIG. 1) and an infrastructureedge device (IED) 110 (i.e., an infrastructure computing device) incommunication with the roadside sensors 108. It should be readilyunderstood that the infrastructure system 100 may be provided for othertypes of roadways such as highways, four-way stops, intersections withtraffic lights, among other, and should not be limited to theconfiguration illustrated.

In one form, the infrastructure system 100 is configured to providedevice-to-device communication which incorporatesvehicle-to-infrastructure communication and infrastructure-to-pedestrian(i.e., vulnerable road user (VRU)) communication, by way of acommunication network that may encompass dedicated short-rangecommunication (DSRC), cellular communication (e.g., 3GPP and 5G), and/orsatellite communication. Accordingly, the infrastructure system 100 mayinclude gateways, routers, base stations, edge or distributed computing,and intermediary communication devices, among other components tosupport one or more communication networks.

In one form, one or more vehicles 112 having a V2X system 114 travelthrough the infrastructure system 100 and communicate with the IED 110,and may be referred to as a connected vehicle (CV) 112. Theinfrastructure system 100 may also be traveled by one or more vehicles116 that do not have a V2X system and thus, do not in communicate withthe IED 110 and/or other vehicles. These vehicles 116 may be referred toas non-connected vehicle (NCV) 116. The vehicles 112 and 116 may includefully autonomous vehicles, partial-autonomous vehicles, and/ornon-autonomous vehicles.

With the V2X system 114, the CV 112 generates and broadcasts a basicsafety message (BSM) that provides dynamic characteristics of the CV112. Specifically, the BSM includes specific dynamic characteristics(i.e., vehicle data) regarding the CV 112 such as, but not limited to,vehicle size, position, speed, travel direction, acceleration, steeringwheel angle, positional accuracy, and/or brake system status. In oneform, specific data entries of the BSM may be considered mandatory suchas a timestamp, position, and/or travel direction. Various protocols maybe used for generating a BSM such as, but not limited to, Society ofAutomotive Engineers (SAE) J2735.

In addition to vehicles 112 and 116, the IED 110 may communicate with avulnerable road user by way of a mobile computing devices such as asmart phone and/or a tablet that is in possession of the VRU. In oneform, a connected mobile computing device may be referred to as aconnected vulnerable road user (CVRU), which is illustrated in FIG. 1with reference number 118. In one form, the CVRU 118 may broadcast apersonal safety message (PSM) that includes data indicative of dynamiccharacteristics of the vulnerable road user such as position, traveldirection, among other information. Various protocols may be used forimplementing a PSM such as SAE J2735 or J2945/9 protocols which arebased on DSRC communication. However, other protocols and/orcommunication networks may be used. In the following, CV 112 and CVRU118 may collectively referred to as “connected devices,” herein. Inaddition, PSM and BSM may collectively be referenced as “safetymessages.”

The roadside sensors 108 of the infrastructure system 100 are arrangedabout the roundabout 104 to detect a moving object within a detectionarea that is generally identified as area A. In one form, the roadsidesensors 108 may include, but are not limited to, cameras, radar, lightdetection and ranging sensor (LIDAR), infrared sensors, and/orultrasonic sensors. While four roadside sensors 108 are illustrated, theinfrastructure system 100 may include one or more roadside sensors.

In one form, the IED 110 is an edge computing device configured toperform the operations described herein including detecting a movingobject based on data from the roadside sensors 108 and broadcasting aproxy message (PM) regarding the moving object. The proxy message mayinclude and generally refer to a proxy BSM that provides data related toa vehicle (e.g., CV or NCV) and/or a proxy PSM that provides datarelated to a VRU that may or may not be in communication with the IED110. The proxy message may also be referred to as a proxy safetymessage. Accordingly, the CV 112 may obtain dynamic characteristicsregarding a moving object that is not in communication with CV 112.

Referring to FIG. 2, in one form, the IED 110 is configured to include acommunication module 202, an infrastructure object detection (IOD)module 204, a proxy message generator 206, a safety message analyzer208, and a sensor calibration module 210. The IED 110 includes aprocessor circuit, a memory circuit for storing computer readableinstructions executed by the processor circuit, and other suitablehardware components to provide the described functionality of themodules 202, 204, 206, 208, and 210.

The communication module 202 is configured to communicate with theroadside sensors 108 to obtain data from the roadside sensors 108 by wayof, for example, short-range wireless communication link such asBluetooth™, Wi-Fi™, among others, and/or wired communication. Thecommunication module 202 is also configured to communicate with theconnected devices to exchange safety messages by way of DSRC and/orcellular communication. Accordingly, the communication module 202 mayinclude one or more transceivers, radio circuits, amplifiers, modulationcircuits, among others for communicating with various devices. Thecommunication module 202 may be referenced as the infrastructurecommunication module 202 to distinguish from other communication modulesdescribed herein.

The IOD module 204 is configured to detect a moving object within thedetection area A and determine one or more dynamic characteristics ofthe moving object based on data from the roadside sensors 108. Forexample, the roadside sensors 108 may emit a signal having predefinedproperties (e.g., frequency, waveform, amplitude, etc.), and receive asignal that is reflected off an object, such as an adjacent vehicle.Using known methods, the IOD module 204 analyzes the signals transmittedand received to determine whether a moving object is present, and if so,determines one or more dynamic characteristics based on one or moresensor data sets from the roadside sensors 108.

The proxy message generator 206 is configured to generate a PM for themoving object detected using BSM/PSM protocols described above. In oneform, the PM includes data indicative of the dynamic characteristics ofthe moving object and supplemental information such as timestamp, deviceidentification, among other information. The proxy message generator 206may also use a predefined cryptographic protocol to provide securetransmission of the PM. For example, the cryptographic protocol may be apublic-key cryptography protocol such as one defined in the securitycredential management system (SCMS) proof of concept (POC) messagesecurity encryption and certificate management.

The safety message analyzer 208 is configured to analyze the safetymessage received from a connected device. In one form, the safetymessage analyzer 208 authenticates the safety message using thepredefine cryptographic protocol and determines if a received safetymessage is from a moving object detected by the IOD module 204. Moreparticularly, in one form, the safety message analyzer 208 is configuredto compare the dynamic characteristics provided in the safety messagefor a subject connected vehicle with calculated dynamic characteristicsof a detected moving object. In one form, if the same, the communicationmodule 202 does not broadcast the PM for the connected device.

In one form, if the detected moving object is the subject connecteddevice, the sensor calibration module 210 is configured to calibrate theroadside sensors 108 using the data provided in the safety message forthe subject connected device. Specifically, the dynamic characteristicsof the subject connected device can be used as ground truth data tocalibrate roadside sensors 108 and/or modify algorithms used by the IODmodule 204 for detecting a moving object and calculating dynamiccharacteristics.

Once broadcasted, a connected device, such as the CV 112, is configuredto process the PM to authenticate the source of the PM and validate thedate provided in the PM. In one form, the CV 112 includes the V2X system114 to broadcast and receive safety messages and other vehicularcomponents to monitor dynamic characteristics of the CV 112, detectobjects around the CV 112, or communicate with passengers within the CV112, among other operations.

More particularly, referring to FIG. 3, along with the V2X system 114,the CV 112 includes one or more vehicle sensors 302, an object detectionmodule 304, and a vehicle drive module 306. It should be readilyunderstood that the CV 112 includes other vehicle sub-system modulesgenerally provided with reference number 308, such as but not limitedto: human machine interface (HMI) module that includes audio-visualsystem disposed in the passenger cabin to communicate with passengers inthe vehicle; a drive control subsystem to generate and deliver power tothe wheels of the CV based on control signals from the vehicle drivemodule; and/or a brake system to slow the CV 112 based on a controlcommand from the vehicle drive module 306. In one form, the variouscomponents/systems of the CV 112 communicate with each other via avehicle communication network 310 such as a controller area network(CAN), a local interconnect network (LIN), a wireless network, amongothers.

The vehicle sensors 302 include various types of sensors includingobject detector sensors such as a LIDAR 302-1, a radar 302-2, and/or acamera 302-3 arranged about the CV 112 to detect objects around thevehicle. The vehicle sensors 302 may also include sensors within the CV112 to detect vehicle operation parameters such as a speed sensor 302-4for measuring a speed of the CV 112 and a steering angle sensor (SAS)302-5 for measuring rotational angle of a steering wheel. While specificexamples are provided, the vehicle sensors 302 may include other sensorssuch as a brake pedal sensor, an acceleration pedal sensor, amongothers, and should not be limited to the sensors described herein.

Based on the data from the object detector sensors, the object detectionmodule 304 is configured to detect objects (i.e., moving and/orstationary) about the CV 112 and determine characteristics of theobjects such as, but not limited to, the type of object detected,position, speed, distance, and/or trajectory. As an example, similar tothe IOD module 204, the object detection module 304 is configured toanalyze the signals transmitted and received by the object detectionmodule 304 to determine whether an object is present, and if so,determines one or more dynamic characteristics if the object is moving,which can be determined using multiple sets of transmitted and receivedsignals. In another example, based on images from the camera 302-3, theobject detection module 304 is configured to use known objectrecognition software to detect an object in the image(s) such as, butnot limited to: lane markings, headlights of an oncoming vehicle, and/orbrake lights of a front vehicle, among others.

The vehicle drive module 306 is configured to control various vehiclesub-systems to drive the CV 112. In one form, the vehicle drive module306 receives data from vehicle sensors 302 regarding an input from adriver such as, but not limited to: rotation of a steering wheel,actuation of the acceleration pedal, and/or actuation of a brake pedal.Based on these inputs and prestored control programs, the vehicle drivemodule 306 transmits control signals to, for example, the drivesub-system to generate power via the engine or battery to move thevehicle and/or to the brake sub-system to actuate the brakes to reducethe speed of the vehicle. It should be readily understood that otherdriver inputs may be available for controlling the vehicle and arewithin the scope of the present disclosure. Furthermore, in one form,the vehicle drive module 306 may include different software applicationsfor performing partial to fully automated controls. For example, thevehicle drive module 306 may provide lane change assist to move the CV112 from a first drive lane to a second drive lane and/or a collisionavoidance feature for inhibiting collision and/or reducing collisionimpact with an object.

In addition to the various sensors and modules provided within the CV112 for monitoring the environment external of the CV 112, the V2Xsystem 114 provides additional details regarding the environment, whichcan improve safety and operation of the CV 112. In one form, the V2Xsystem 114 includes a communication module 320, a PM verification module322, a vehicle position module 324, and a BSM generation module 326. Inaddition to other components, the V2X system 114 includes amicroprocessor and a memory for storing computer programs executable bythe microprocessor to have the V2X system perform the operationsdescribed herein.

The communication module 320 is configured to generate and broadcast V2Xsignals and receive V2X signals from an external device. As an example,the communication module 320 transmits BSM messages for the CV 112 andreceives safety message from connected devices. Accordingly, in order toperform the functionality described herein, the communication module 320includes one or more electronic components for supporting wirelesscommunication such as DSRC and/or cellular and thus, may includetransceivers, radio circuits, amplifiers, and/or modulation circuitsamong other electronic components. In the following, the communicationmodule 320 may be referenced as the vehicle communication module todistinguish from the infrastructure communication module.

The PM verification module 322 is configured to evaluate a PM from theIED 110 to determine if the PM is from an authorized sender and if thedata provided in the PM is valid. Accordingly, in one form, the PMverification module 322 is configured to have a sender authenticationcontrol 327 and a data validation control 328. The sender authenticationcontrol 327 authenticates the sender of the PM received by thecommunication module 320 using one or more predefined cryptographicprotocol such as SCMS POC.

Once the sender is authenticated, the data validation control 328performs an analytical comparison to validate the data provided in thePM. Specifically, in one form, the data validation control 328 maydetermine that the PM is valid or invalid based on other received safetymessages and/or content of the PM. For example, the PM is identified asvalid if another received safety message includes similar data as thatin the PM (i.e., duplicate messages); the PM is identified as invalid ifdata is missing from required fields of the PM such as position,timestamp, among others; the PM is invalid if certain data is out ofrange such as position of the moving object and/or location of thesender is not within a predefined distance from the CV 112; and/or thePM is considered invalid if the wrong type of data is provided such asproviding deceleration data and not position data. In another form, thedata validation control 328 is configured to compare the dynamiccharacteristics of the moving object with data detected by the vehiclesensors 302 and/or determined by the object detection module 304. Forexample, the data validation control 328 receives information regardingobjects detected by the object detection module 304 and compares theinformation to the dynamic characteristics provided in the PM. If one ormore dynamic characteristics match, the PM is considered valid;otherwise it is invalid. It should be readily understood that othermethods for validating the content of the PM may be used.

In the event the data of the PM is valid, the data is used by othermodules within the CV 112 to analyze the moving object and providesafety advisories such as forward collision warning, do not passwarning, and/or left turn assist, among others. For example, the vehicledrive module 306 utilizes the data from the object detection module 304and the PM verification module 322 to determine the position of movingobject in association with the CV 112 to determine if the CV 112 canchange lanes, if a vehicle in front of the CV 112 is breaking, and/or ifa pedestrian is about to cross the street. In one form, the vehicledrive module 306 may automatically control the vehicle based on thesafety advisory and/or notify the passenger of the vehicle of the safetyadvisory via the HMI. For example, with regard to the notification tothe passenger, such as a driver, a safety notification may includeproviding an adjusted speed for the CV 112, recommending a dynamic lanechange, and/or identifying a moving object ahead of the vehicle, amongothers.

The vehicle position module 324 determines positional information forthe CV 112 and includes a Global Navigation Satellite System (GNSS)receiver 330. The vehicle position module 324 is configured to calculatea position of the CV 112 (e.g., latitude, longitude, elevation, amongothers) based on a GNSS position fix provided with the signals receivedby the GNSS receiver 330.

The BSM generation module 326 is configured to generate a BSM for the CV112 and broadcast the BSM via the communication module 320 in accordancewith a predefined protocol. That is, as provided above, the BSM includesdynamic characteristics such as position, speed, and/or traveldirection, among other characteristics related to the operation of theCV 112. The BSM generation module 326 acquires data indicative of thedynamic characteristics of the CV from the vehicle position module 324,the vehicle sensors 308, and/or the vehicle drive module 306, amongother components/modules within the CV 112. In addition to dynamiccharacteristics, the BSM includes other data for authenticating themessage such as vehicle identification and a timestamp when the messageis broadcasted.

The CV 112 may include other modules for further evaluating safetymessages. For example, in one form, the CV 112 may include an anomalydetection machine learning module that includes a database for storingPMs and is trained to detect variances in data received via the V2Xsystem. The variances may indicate that the safety message may becounterfeit, manipulated, and/or tampered. For example, when BSMs fromtwo vehicles provide overlapping positions for multiple transmissions,the BSMs may be flagged as invalid. Accordingly, using anomaly detectionmachine learning algorithm, the CV 112 is able identify unreliableinformation, thus, improving security and safety of the CV 112. Theanomaly detection machine learning algorithm may also be provided withIED 110.

As described herein, the IED of the present disclosure generates proxyBSM and proxy PSM using data from the roadside sensors. Connecteddevices, such as the CV of the present disclosure, authenticate andvalidate the safety messages. Once validated, the data provided in thesafety messages can be used to generate safety advisories and warningswhich can be provided to passengers in the vehicle via the HMI and/orused to control partial to fully autonomous vehicles. That is, each CVis able to decide how to use the validated data even when one CV is amanual vehicle and another is an autonomous vehicle, or when differentcontrol programs are used for controlling different autonomous vehicles.

Referring to FIG. 4, an example PM generation routine 400 is provided.In one form, the PM generation routine 400 is performed by the IED at apredefined frequency based on the rate at which a proxy safety messageshould be transmitted. At 402, the IED acquires data from roadsidesensors and, at 404, processes the data from the roadside sensors todetermine if a moving object is within the detection area. For example,using known signal analysis techniques and/or object recognitiontechniques, the IED may identify a moving object with the detection areadefined by the roadside sensors. At 406, the IED determines if one ormore moving objects is/are detected. If so, the IED calculates at leastone dynamic characteristics for each moving object detected, at 408.Next, as detailed above, the IED generates and broadcasts a PM for eachmoving object where the PM includes the calculated dynamiccharacteristic for the moving object, at 410. It should be readilyunderstood, that the IED may be configured in various suitable ways togenerate and broadcast a PM, and should not be limited to the routine400. For example, in one form, the IED may compare the dynamiccharacteristics of a moving object with data from safety messagestransmitted by connected devices. If the dynamic characteristics matchthat of one provided in a safety message, the IED may not transmit thePM for that particular moving object.

Along with the PM generation routine, the IED may be configured toperform other functions as described herein. Such as processing safetymessages received from connected vehicles to calibrate roadside sensorsand/or algorithms used for detecting objects.

Referring to FIG. 5, an example of a safety message evaluation routine500 is provided. The safety message evaluation routine 500 is performedby the V2X system of the CV. At 502, the V2X system determines if asafety message, such the PM, is received. If so, the V2X system performsa predefined authentication protocol, at 504, and, at 506, determines ifthe sender of the safety message is an authorized sender. If not, thesafety message is considered an unauthorized communication and the V2Xsystem discards the safety message (e.g., deletes the safety message,stores the data, but does not use the safety message for vehicle controlanalysis), at 508.

If the sender is authorized, the V2X system extracts the dynamiccharacteristics of the moving object from the safety message, at 510 andobtains information regarding possible object(s) about the CV based onvehicle sensor data, at 512. The V2X system determines if the data fromthe safety message is valid, at 514. That is, using one or more of themethods described above, which can include comparing the dynamiccharacteristics of the moving object with data regarding detectedobjects above the vehicle, the V2X system may determine if the contentof the safety message is valid. If the data is not valid, the V2X systemdiscards the safety message at 508. If the data is valid, the V2X systemforwards the data to one or more modules within the CV for a vehiclecontrol analysis to assess possible safety advisories (i.e., a safetyadvisory action), at 516. It should be readily understood, that the V2Xsystem may be configured in various suitable ways to process the safetymessage, and should not be limited to the routine 500. For example, inone form, the V2X system may determine that the dynamic characteristicsof the moving object is valid based on the content of the safety messageitself and not using data from vehicle sensors.

Based on the foregoing, the following provides a general overview of thepresent disclosure and is not a comprehensive summary. In one form, thepresent disclosure is directed toward a method for generating a messageincluding dynamic characteristics of a moving object. The methodincludes acquiring data from a roadside sensor, identifying a movingobject within a detection area based on the acquired data from theroadside sensor, calculating one or more dynamic characteristics of themoving object based on the acquired data from the roadside sensor,generating a proxy safety message for the identified moving object, andbroadcasting the proxy safety message for the identified moving object.The proxy safety message includes data indicative of the calculateddynamic characteristics of the identified moving object.

In one variation, the dynamic characteristics of the identified movingobject includes a position, a travel direction, a speed, or acombination thereof.

In another variation, the method further includes acquiring a basicsafety message from a connected moving object, where the basic safetymessage includes data indicative of dynamic characteristics of theconnected moving object; and determining if the connected moving objectis the identified moving object. The proxy safety message for theidentified moving object is transmitted when the connected moving objectis not the identified moving object, and the proxy safety message forthe identified moving object is not transmitted when the connectedmoving object is the identified moving object.

In yet another variation, the method further includes receiving a basicsafety message from a vehicle, where the basic safety message includesdata indicative of dynamic characteristics of the vehicle; determiningif the vehicle is the identified moving object based on the dynamiccharacteristics of the vehicle and the dynamic characteristics of thevehicle; and calibrating data from the roadside sensor based on thebasic safety message.

In one form, the present disclosure is directed towards a method forprocessing a proxy safety message from an infrastructure edge device incommunication with a subject vehicle. The method includes receiving aproxy safety message regarding a moving object external of the subjectvehicle. The proxy safety message includes data indicative of dynamiccharacteristics of the moving object. The method further includesdetermining whether the data of the proxy safety message is valid basedon sensor data from one or more sensors disposed about the subjectvehicle, content of the proxy safety message, or a combination thereofand discarding the proxy safety message in response to the proxy safetymessage being invalid.

In one variation, the method further includes performing a vehiclecontrol analysis based on the data from the proxy safety message inresponse to the data being valid and determining whether a safetyadvisory action is to be performed based on the vehicle controlanalysis.

In another variation, the safety advisory action includes issuing anotification to a passenger of the subject vehicle.

In yet another variation, the notification includes providing anadjusted speed for the subject vehicle, recommending a dynamic lanechange, identifying an object ahead of the subject vehicle, or acombination thereof.

In one variation, determining whether the data from the proxy safetymessage is valid further includes determining whether a required fieldof the proxy safety message is missing and providing the proxy safetymessage as invalid in response to the required field missing from theproxy message.

In another variation, determining whether the data from the proxy safetymessage is valid further includes detecting one or more objects externalof a vehicle based on sensor data from one or more sensors disposedabout the vehicle, determining whether the moving object identified inthe proxy safety message is among the one or more objects detected,providing the proxy safety message as valid when the moving object isamong the one or more objects detected, and providing the proxy safetymessage as invalid when the moving object is not among the one or moreobjects detected.

In yet another variation, the method further includes receiving a basicsafety message from a connected vehicle. The basic safety messageincludes dynamic characteristics of the connected vehicle, anddetermining whether the data from the proxy safety message is validfurther includes comparing the dynamic characteristics of the connectedvehicle with that of the moving object, providing the proxy safetymessage as being valid in response to the dynamic characteristics of theconnected vehicle being the same as that of the moving object, andproviding the proxy safety message as being invalid in response to thedynamic characteristics of the connected vehicle being different fromthat of the moving object.

In one variation, the dynamic characteristics of the identified objectincludes a position, a travel direction, a speed, or a combinationthereof.

In another variation, the method further includes identifying, by theinfrastructure edge device, the moving object within a detection areabased on data from a roadside sensor, calculating, by the infrastructureedge device, the dynamic characteristics of the moving object based onthe data from the roadside sensor, generating, by the infrastructureedge device, the proxy safety message for the identified moving object,and transmitting, by the infrastructure edge device, the proxy safetymessage for the identified moving object using wireless communication.The proxy safety message includes data indicative of the dynamiccharacteristics of the identified moving object.

In yet another variation the method further includes acquiring, by theinfrastructure edge device, a basic safety message from a connectedmoving object, where the basic safety message includes data indicativeof dynamic characteristics of the connected moving object, determiningif the connected moving object is the identified moving object based onthe dynamic characteristics of the connected moving object and thedynamic characteristics of the identified moving object, and calibratingthe roadside sensor based on the basic safety message.

In one form, the present disclosure is directed towards a system for asubject vehicle. The system includes a processor and a non-transitorycomputer-readable medium comprising instructions that are executable bythe processor. The instructions includes: authenticating a sender of aproxy safety message, where the proxy safety message includes dataindicative of dynamic characteristics of a moving object, determiningwhether the data of the proxy safety message is valid based on sensordata from one or more sensors disposed about the subject vehicle,content of the proxy safety message, or a combination thereof anddiscarding the proxy safety message in response to the proxy safetymessage being from an authorized sender or including invalid data.

In one variation, the instructions further include performing a vehiclecontrol analysis based on the data from the proxy safety message inresponse to the data being valid and determining whether a safetyadvisory action is to be performed based on the vehicle controlanalysis.

In another variation, the instructions for determining whether the datafrom the proxy safety message is valid further comprises determiningwhether a required field of the proxy safety message is missing andproviding the proxy safety message as invalid in response to therequired field missing from the proxy message.

In yet another variation, the instructions for determining whether thedata from the proxy safety message is valid further includes detectingone or more objects external of the subject vehicle based on sensor datafrom one or more sensors disposed about the vehicle, determining whetherthe moving object identified in the proxy safety message is among theone or more objects detected, providing the proxy safety message asvalid when the moving object is among the one or more objects detected,and providing the proxy safety message as invalid when the moving objectis not among the one or more objects detected.

In one variation, the instructions further include receiving a basicsafety message from a connected vehicle. The basic safety messageincludes dynamic characteristics of the connected vehicle anddetermining whether the data from the proxy safety message is validfurther includes comparing the dynamic characteristics of the connectedvehicle with that of the moving object, providing the proxy safetymessage as being valid in response to the dynamic characteristics of theconnected vehicle being the same as that of the moving object, andproviding the proxy safety message as being invalid in response to thedynamic characteristics of the connected vehicle being different fromthat of the moving object.

In another variation, the dynamic characteristics of the identifiedobject includes a position, a travel direction, a speed, or acombination thereof.

Unless otherwise expressly indicated herein, all numerical valuesindicating mechanical/thermal properties, compositional percentages,dimensions and/or tolerances, or other characteristics are to beunderstood as modified by the word “about” or “approximately” indescribing the scope of the present disclosure. This modification isdesired for various reasons including industrial practice, manufacturingtechnology, and testing capability.

As used herein, the phrase at least one of A, B, and C should beconstrued to mean a logical (A OR B OR C), using a non-exclusive logicalOR, and should not be construed to mean “at least one of A, at least oneof B, and at least one of C.”

The description of the disclosure is merely exemplary in nature and,thus, variations that do not depart from the substance of the disclosureare intended to be within the scope of the disclosure. Such variationsare not to be regarded as a departure from the spirit and scope of thedisclosure.

In the figures, the direction of an arrow, as indicated by thearrowhead, generally demonstrates the flow of information (such as dataor instructions) that is of interest to the illustration. For example,when element A and element B exchange a variety of information, butinformation transmitted from element A to element B is relevant to theillustration, the arrow may point from element A to element B. Thisunidirectional arrow does not imply that no other information istransmitted from element B to element A. Further, for information sentfrom element A to element B, element B may send requests for, or receiptacknowledgements of, the information to element A.

In this application, the term “module” and/or “controller” may refer to,be part of, or include: an Application Specific Integrated Circuit(ASIC); a digital, analog, or mixed analog/digital discrete circuit; adigital, analog, or mixed analog/digital integrated circuit; acombinational logic circuit; a field programmable gate array (FPGA); aprocessor circuit (shared, dedicated, or group) that executes code; amemory circuit (shared, dedicated, or group) that stores code executedby the processor circuit; other suitable hardware components thatprovide the described functionality; or a combination of some or all ofthe above, such as in a system-on-chip.

The term memory is a subset of the term computer-readable medium. Theterm computer-readable medium, as used herein, does not encompasstransitory electrical or electromagnetic signals propagating through amedium (such as on a carrier wave); the term computer-readable mediummay therefore be considered tangible and non-transitory. Non-limitingexamples of a non-transitory, tangible computer-readable medium arenonvolatile memory circuits (such as a flash memory circuit, an erasableprogrammable read-only memory circuit, or a mask read-only circuit),volatile memory circuits (such as a static random access memory circuitor a dynamic random access memory circuit), magnetic storage media (suchas an analog or digital magnetic tape or a hard disk drive), and opticalstorage media (such as a CD, a DVD, or a Blu-ray Disc).

The apparatuses and methods described in this application may bepartially or fully implemented by a special purpose computer created byconfiguring a general-purpose computer to execute one or more particularfunctions embodied in computer programs. The functional blocks,flowchart components, and other elements described above serve assoftware specifications, which can be translated into the computerprograms by the routine work of a skilled technician or programmer.

What is claimed is:
 1. A method for generating a message includingdynamic characteristics of a moving object, the method comprising:acquiring data from a roadside sensor; identifying a moving objectwithin a detection area based on the acquired data from the roadsidesensor; calculating one or more dynamic characteristics of the movingobject based on the acquired data from the roadside sensor; generating aproxy safety message for the identified moving object, wherein the proxysafety message includes data indicative of the calculated dynamiccharacteristics of the identified moving object; and broadcasting theproxy safety message for the identified moving object.
 2. The method ofclaim 1, wherein the dynamic characteristics of the identified movingobject includes a position, a travel direction, a speed, or acombination thereof.
 3. The method of claim 1 further comprising:acquiring a basic safety message from a connected moving object, whereinthe basic safety message includes data indicative of dynamiccharacteristics of the connected moving object; and determining if theconnected moving object is the identified moving object, wherein: theproxy safety message for the identified moving object is transmittedwhen the connected moving object is not the identified moving object;and the proxy safety message for the identified moving object is nottransmitted when the connected moving object is the identified movingobject.
 4. The method of claim 1 further comprising: receiving a basicsafety message from a vehicle, wherein the basic safety message includesdata indicative of dynamic characteristics of the vehicle; determiningif the vehicle is the identified moving object based on the dynamiccharacteristics of the vehicle and the dynamic characteristics of thevehicle; and calibrating data from the roadside sensor based on thebasic safety message.
 5. A method for processing a proxy safety messagefrom an infrastructure edge device in communication with a subjectvehicle, the method comprising: receiving a proxy safety messageregarding a moving object external of the subject vehicle, wherein theproxy safety message includes data indicative of dynamic characteristicsof the moving object; determining whether the data of the proxy safetymessage is valid based on sensor data from one or more sensors disposedabout the subject vehicle, content of the proxy safety message, or acombination thereof; and discarding the proxy safety message in responseto the proxy safety message being invalid.
 6. The method of claim 5further comprising performing a vehicle control analysis based on thedata from the proxy safety message in response to the data being validand determining whether a safety advisory action is to be performedbased on the vehicle control analysis.
 7. The method of claim 6, whereinthe safety advisory action includes issuing a notification to apassenger of the subject vehicle.
 8. The method of claim 7, wherein thenotification includes providing an adjusted speed for the subjectvehicle, recommending a dynamic lane change, identifying an object aheadof the subject vehicle, or a combination thereof.
 9. The method of claim5, wherein determining whether the data from the proxy safety message isvalid further comprises determining whether a required field of theproxy safety message is missing and providing the proxy safety messageas invalid in response to the required field missing from the proxymessage.
 10. The method of claim 5, wherein determining whether the datafrom the proxy safety message is valid further comprises: detecting oneor more objects external of a vehicle based on sensor data from one ormore sensors disposed about the vehicle; determining whether the movingobject identified in the proxy safety message is among the one or moreobjects detected; providing the proxy safety message as valid when themoving object is among the one or more objects detected; and providingthe proxy safety message as invalid when the moving object is not amongthe one or more objects detected.
 11. The method of claim 5 furthercomprising: receiving a basic safety message from a connected vehicle,wherein the basic safety message includes dynamic characteristics of theconnected vehicle, wherein determining whether the data from the proxysafety message is valid further comprises: comparing the dynamiccharacteristics of the connected vehicle with that of the moving object;providing the proxy safety message as being valid in response to thedynamic characteristics of the connected vehicle being the same as thatof the moving object; and providing the proxy safety message as beinginvalid in response to the dynamic characteristics of the connectedvehicle being different from that of the moving object.
 12. The methodof claim 5, wherein the dynamic characteristics of the moving objectincludes a position, a travel direction, a speed, or a combinationthereof.
 13. The method of claim 5 further comprising: identifying, bythe infrastructure edge device, the moving object within a detectionarea based on data from a roadside sensor; calculating, by theinfrastructure edge device, the dynamic characteristics of the movingobject based on the data from the roadside sensor; generating, by theinfrastructure edge device, the proxy safety message for the identifiedmoving object, wherein the proxy safety message includes data indicativeof the dynamic characteristics of the identified moving object; andtransmitting, by the infrastructure edge device, the proxy safetymessage for the identified moving object using wireless communication.14. The method of claim 13 further comprising: acquiring, by theinfrastructure edge device, a basic safety message from a connectedmoving object, wherein the basic safety message includes data indicativeof dynamic characteristics of the connected moving object; determiningif the connected moving object is the identified moving object based onthe dynamic characteristics of the connected moving object and thedynamic characteristics of the identified moving object; and calibratingthe roadside sensor based on the basic safety message.
 15. A system fora subject vehicle comprising: a processor; and a non-transitorycomputer-readable medium comprising instructions that are executable bythe processor, wherein the instructions comprise: authenticating asender of a proxy safety message, wherein the proxy safety messageincludes data indicative of dynamic characteristics of a moving object;determining whether the data of the proxy safety message is valid basedon sensor data from one or more sensors disposed about the subjectvehicle, content of the proxy safety message, or a combination thereof;and discarding the proxy safety message in response to the proxy safetymessage being from an authorized sender or including invalid data. 16.The system of claim 15, wherein the instructions further compriseperforming a vehicle control analysis based on the data from the proxysafety message in response to the data being valid and determiningwhether a safety advisory action is to be performed based on the vehiclecontrol analysis.
 17. The system of claim 15, wherein the instructionsfor determining whether the data from the proxy safety message is validfurther comprises determining whether a required field of the proxysafety message is missing and providing the proxy safety message asinvalid in response to the required field missing from the proxymessage.
 18. The system of claim 15, wherein the instructions fordetermining whether the data from the proxy safety message is validfurther comprises: detecting one or more objects external of the subjectvehicle based on sensor data from one or more sensors disposed about thevehicle; determining whether the moving object identified in the proxysafety message is among the one or more objects detected; providing theproxy safety message as valid when the moving object is among the one ormore objects detected; and providing the proxy safety message as invalidwhen the moving object is not among the one or more objects detected.19. The system of claim 15, wherein the instructions further comprises:receiving a basic safety message from a connected vehicle, wherein thebasic safety message includes dynamic characteristics of the connectedvehicle, wherein determining whether the data from the proxy safetymessage is valid further comprises: comparing the dynamiccharacteristics of the connected vehicle with that of the moving object,providing the proxy safety message as being valid in response to thedynamic characteristics of the connected vehicle being the same as thatof the moving object, and providing the proxy safety message as beinginvalid in response to the dynamic characteristics of the connectedvehicle being different from that of the moving object.
 20. The systemof claim 15, wherein the dynamic characteristics of the moving objectincludes a position, a travel direction, a speed, or a combinationthereof.